A device for making available navigation parameter values of a vehicle is provided. The device includes components distributed in the following categories: several sensors collecting measurement data relating to at least one navigation parameter of the vehicle; several computers processing the measurement data collected by the sensors and calculating said navigation parameters; several networks linking the sensors to the computers and linking the computers to systems using said parameters. The networks transmit all the collected measurement data to the computers, which calculate a value for each navigation parameter as well as an estimated value of the associated fault, using a single common fusion algorithm.
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1. A device for making centrally available, navigation parameter values of a vehicle, comprising a plurality of components distributed in the following categories: a plurality of sensors that collect measurement data relating to at least one navigation parameter of the vehicle, wherein the plurality of sensors includes a first sensor configured to sense a selected navigation parameter using a first sensor operation mode and a second sensor configured to sense the selected navigation parameter using a second sensor operation mode different from the first sensor operation mode such that a common mode failure affecting the first sensor will not affect the second sensor; a plurality of computers that process the measurement data collected by the plurality of sensors and calculate said at least one navigation parameter of the vehicle, wherein the plurality of computers includes a first computer configured to process the measurement data collected by the first sensor and the second sensor and calculate the selected navigation parameter using a first computer operation mode and a second computer configured to process the measurement data collected by the first sensor and the second sensor and calculate the selected navigation parameter using a second computer operation mode different from the first computer operation mode such that a common mode failure affecting the first computer will not affect the second computer; a plurality of networks that link the sensors to the plurality of computers and link the plurality of computers to a plurality of user systems using said at least one navigation parameter of the vehicle, wherein the plurality of networks includes a first network that links the first and second sensors to the first and second computers using a first network operation mode and a second network that links the first and second sensors to the first and second computers using a second network operation mode different from the first network operation mode such that a common mode failure affecting the first network will not affect the second network; wherein: the plurality of networks transmit all the collected measurement data to the plurality of computers, and the plurality of computers calculate and make available, for use by the plurality of user systems, the value for each of the at least one navigation parameter of the vehicle as well as an estimated value of a fault associated with said at least one navigation parameter of the vehicle, using the transmitted measurement data and a single fusion algorithm contained in each of said plurality of computers.
A vehicle navigation system provides centrally available navigation parameter values. It includes multiple sensors that measure navigation parameters using different operation modes. For example, one sensor might use GPS while another uses inertial measurement, so a failure in GPS will not affect the inertial sensor. Multiple computers process the sensor data and calculate the navigation parameters, using different operation modes. For example, one computer might run the fusion algorithm in software, while another uses dedicated hardware. Multiple networks link the sensors to the computers and the computers to user systems, using different network technologies such as Ethernet and a dedicated avionics bus. The networks transmit all sensor data to the computers, and the computers calculate each navigation parameter and estimate any associated fault, using a single, common sensor fusion algorithm.
2. The device according to claim 1 , wherein the single fusion algorithm comprises a combination function configured to provide a single value of the navigation parameter values from several pieces of measurement data.
The vehicle navigation system described above, which provides centrally available navigation parameter values using multiple diverse sensors, computers, and networks, where the computers use a single fusion algorithm, contains a combination function in that fusion algorithm. This combination function takes multiple sensor measurements as input and produces a single, combined value for each navigation parameter. For example, it might use a weighted average of GPS and inertial data to estimate position, where the weights depend on the estimated accuracy of each sensor.
3. The device according to claim 1 , wherein the single fusion algorithm comprises a monitoring function configured to detect any measurement fault in the measurement data and to deactivate or exclude an associated piece of measurement data.
The vehicle navigation system described above, which provides centrally available navigation parameter values using multiple diverse sensors, computers, and networks, where the computers use a single fusion algorithm, contains a monitoring function in that fusion algorithm. This monitoring function detects faults in the sensor data and deactivates or excludes the faulty data from the navigation parameter calculation. For example, it might detect an unreasonable GPS position based on vehicle dynamics and ignore that GPS data in the position estimate.
4. The device according to claim 1 , wherein an estimated value of the fault associated with each value of the navigation parameter values is made available in at least one of an absence of a simple failure or the common mode failure and in a presence of a simple failure or the common mode failure.
The vehicle navigation system described above, which provides centrally available navigation parameter values using multiple diverse sensors, computers, and networks, where the computers use a single fusion algorithm, provides an estimated fault value along with each navigation parameter value. This fault estimate is available whether there is a simple sensor failure or a common-mode failure (affecting multiple sensors). The fault estimate reflects the system's confidence in the navigation parameter value, allowing user systems to determine whether the value is reliable enough for their purposes.
5. The device according to claim 4 , wherein the estimated value of the fault in the presence of the failure takes into account both the simple failure and the common mode failure.
The vehicle navigation system described above, which provides centrally available navigation parameter values using multiple diverse sensors, computers, and networks, and provides an estimated fault value along with each navigation parameter value, calculates the fault estimate based on simple failures or common mode failures. When calculating the estimated fault value in the event of a failure, the system takes into account both the possibility of a simple, isolated sensor failure, AND the possibility of a common-mode failure impacting multiple sensors simultaneously.
6. The device according to claim 1 , wherein the plurality of computers are of dissimilar technology types.
The vehicle navigation system described above, which provides centrally available navigation parameter values using multiple diverse sensors, computers, and networks, where the computers use a single fusion algorithm, uses computers of different technology types. For example, one computer might be a general-purpose processor running a real-time operating system, while another computer is a dedicated FPGA implementing the sensor fusion algorithm in hardware.
7. The device according to claim 6 , wherein the plurality of computers include at least one integrated modular avionics computer and at least one line replaceable unit computer.
The vehicle navigation system described above, which provides centrally available navigation parameter values using multiple diverse sensors, computers of dissimilar technology types, and networks, where the computers use a single fusion algorithm, uses at least one Integrated Modular Avionics (IMA) computer and at least one Line Replaceable Unit (LRU) computer. This means that the system can tolerate failures in either the centralized IMA architecture or the distributed LRU architecture.
8. The device according to claim 1 , further comprising a plurality of estimators that estimate navigation parameter values from other parameters of the vehicle.
The vehicle navigation system described above, which provides centrally available navigation parameter values using multiple diverse sensors, computers, and networks, where the computers use a single fusion algorithm, also includes estimators. These estimators calculate navigation parameters using other vehicle parameters. For example, a speed estimator might calculate the vehicle's ground speed based on engine RPM and wheel diameter.
9. The device according to claim 8 , wherein the plurality of estimators comprise side-slip estimators, speed estimators and coherence estimators.
The vehicle navigation system described above, which provides centrally available navigation parameter values using multiple diverse sensors, computers, networks, estimators and a single fusion algorithm, includes side-slip estimators, speed estimators, and coherence estimators. These estimators provide redundant estimates of vehicle state, improving overall system robustness and fault tolerance.
10. The device according to claim 1 , wherein the plurality of networks are of dissimilar technology types.
The vehicle navigation system described above, which provides centrally available navigation parameter values using multiple diverse sensors, computers, and networks, where the computers use a single fusion algorithm, utilizes networks of different technology types. For instance, it could employ both a high-speed Ethernet network and a slower, more reliable serial communication bus.
11. The device according to claim 10 , wherein the plurality of networks comprise at least one Avionics Full DupleX switched ethernet network and at least one Erebus network.
The vehicle navigation system described above, which provides centrally available navigation parameter values using multiple diverse sensors, computers, networks of dissimilar technology types, and a single fusion algorithm, includes at least one Avionics Full Duplex Switched Ethernet (AFDX) network and at least one Erebus network. This combination leverages the high bandwidth of AFDX and the deterministic timing of Erebus for critical data transmission.
12. The device according to claim 1 , wherein the vehicle is an aircraft.
The vehicle navigation system described above, which provides centrally available navigation parameter values using multiple diverse sensors, computers, and networks, where the computers use a single fusion algorithm, is used in an aircraft.
13. The device according to claim 1 , wherein the plurality of user systems decide to use or not to use the value for each of the navigation parameter values as a function of the estimated value of the fault associated with each of the navigation parameter values.
The vehicle navigation system described above, which provides centrally available navigation parameter values using multiple diverse sensors, computers, and networks, where the computers use a single fusion algorithm, provides an estimated fault value along with the navigation parameter values. External user systems can then decide whether or not to use a particular navigation parameter value, based on the corresponding fault estimate.
14. An aircraft, comprising: a device for making available navigation parameter values comprising a plurality of components distributed in the following categories: a plurality of sensors that collect measurement data relating to at least one navigation parameter of the vehicle, wherein the plurality of sensors includes a first sensor that collects measurement data relating to a selected navigation parameter of the vehicle using a first sensor operation mode and a second sensor that collects measurement data relating to the selected navigation parameter of the vehicle using a second sensor operation mode different from the first sensor operation mode such that a common mode failure affecting the first sensor will not affect the second sensor; a plurality of computers that process the measurement data collected by the plurality of sensors and calculate said navigation parameter values of the vehicle, wherein the plurality of computers includes a first computer that processes the measurement data collected by the plurality of sensors and calculate said navigation parameter values of the vehicle using a first computer operation mode and a second computer that processes the measurement data collected by the plurality of sensors and calculate said navigation parameter values of the vehicle using a second computer operation mode different from the first computer operation mode such that a common mode failure affecting the first computer will not affect the second computer; a plurality of networks that link the sensors to the plurality of computers and link the plurality of computers to a plurality of user systems using said navigation parameter values, wherein the plurality of networks includes a first network that links the first and second sensors to the first and second computers using a first network operation mode and a second network that links the first and second sensors to the first and second computers using a second network operation mode different from the first network operation mode such that a common mode failure affecting the first network will not affect the second network; wherein: the plurality of networks transmit all the collected measurement data to the plurality of computers and at least two of the plurality of networks are of dissimilar technology types, and the plurality of computers calculate and make available, for use by the plurality of user systems, the value for each of the navigation parameter values as well as an estimated value of a fault associated with said navigation parameter values, using the transmitted measurement data and a single fusion algorithm contained in each of said plurality of computers.
An aircraft includes a navigation system that provides centrally available navigation parameter values. The system includes multiple sensors using different modes, e.g., GPS and inertial, to avoid common-mode failures. Multiple computers process sensor data and calculate navigation parameters using different modes. For example, one computer might run the fusion algorithm in software, while another uses dedicated hardware. The system also uses multiple diverse networks such as Ethernet and a dedicated avionics bus. At least two networks use dissimilar technologies. The networks transmit all sensor data to the computers. The computers calculate navigation parameters and estimate associated faults using a single, common fusion algorithm. User systems then decide whether or not to use a particular navigation parameter value, based on the corresponding fault estimate.
15. The aircraft according to claim 14 , wherein the single fusion algorithm comprises a combination function configured to provide a single value of the navigation parameter values from several pieces of measurement data.
The aircraft described above, which includes a navigation system that provides centrally available navigation parameter values using multiple diverse sensors, computers, and networks, where at least two networks use dissimilar technologies and the computers use a single fusion algorithm, contains a combination function in that fusion algorithm. This combination function takes multiple sensor measurements as input and produces a single, combined value for each navigation parameter.
16. The aircraft according to claim 14 , wherein the single fusion algorithm comprises a monitoring function configured to detect any measurement fault in the measurement data and to deactivate or exclude an associated piece of measurement data.
The aircraft described above, which includes a navigation system that provides centrally available navigation parameter values using multiple diverse sensors, computers, and networks, where at least two networks use dissimilar technologies and the computers use a single fusion algorithm, contains a monitoring function in that fusion algorithm. This monitoring function detects faults in the sensor data and deactivates or excludes the faulty data from the navigation parameter calculation.
17. The aircraft according to claim 14 , wherein the estimated value of the fault associated with each value of the navigation parameter values is made available in at least one of a simple failure or the common mode failure and in a presence of a simple failure or the common mode failure.
The aircraft described above, which includes a navigation system that provides centrally available navigation parameter values using multiple diverse sensors, computers, and networks, where at least two networks use dissimilar technologies and the computers use a single fusion algorithm, provides an estimated fault value along with each navigation parameter value. This fault estimate is available whether there is a simple sensor failure or a common-mode failure.
18. The aircraft according to claim 17 , wherein the estimated value of the fault in the presence of the failure takes into account both the simple failure and the common mode failure.
The aircraft described above, which includes a navigation system that provides centrally available navigation parameter values using multiple diverse sensors, computers, and networks, where at least two networks use dissimilar technologies and the computers use a single fusion algorithm, provides an estimated fault value along with the navigation parameter values. When calculating the estimated fault value in the event of a failure, the system takes into account both the possibility of a simple, isolated sensor failure, AND the possibility of a common-mode failure impacting multiple sensors simultaneously.
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December 19, 2013
July 4, 2017
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